UNIT 6 KINETICS OF A PARTICLE

Structure
6.1 6.2 6.3 6.4 Introduction
Objeaives

D'Alembert's Principle - Application to a Particle D'Alembert's Principle - Application to System of Particles Translation of a Rigid Body Summary Key Words Answers/Solutions to SAQs

6.5
6.6 6.7

6.1 INTRODUCTION
Kinetics deals with the relations between the motion of bodies and the forces producing these motions. From the study of the falling bodies, Galileo discovered the first two laws which are commonly @own as Newton's laws of motion for a particle. Newton generalised these laws together with the law of universal gravitation. Newton's laws of motions have been stated in various ways but we can put them in words as follows : A particle acted upon by a balanced force system has no acceleration. 1) 2) 3)
A particle acted upon by an unbalanced force system has an acceleration in line with and directly proportional to the resultant of the force system.

Action and reaction forces between two particles are always equal and oppositely directed. The reference frame under which Newton's laws are valid is a frame having fixed origin and fixed directions of the axes. This frame is called inertial, Newtonian or Galilean frame of reference. For engineering problems inertial frame attached to the surface of the earth is sufficiently accurate. Newton's law of universal gravitation states that any two particles of masses m,and m, separated by a distance r attract each other with equal opposite forces that are directed from either particle towards the other. The magnitude of each of this pair of action and reaction forces is given by

where G is the universal constant of gravitation. The value of G now accepted is

We must understand that Newton's law of gravitation does not define any of the physical quantities (force, inass, length etc). However, Newton's second law defines the relations among these physical quantities. Here we try to define the term weight, which is the gravitational force of attraction exerted on the body by the earth. The weight of a body depends upon its position relative to the centre of the earth. If m,and m, are the masses of two particles k, and k, at a distance r apart as shown in Figure 6.l(a) then they attract each other with forces F,,and Fi,whose magnitude is defined by

where G is the gravitational constant. Also we have F,, = - F,, .

Figure 6.1 (b) shows a body of mass m on the earth's sufface if M is the mass of the earth and R, is its radius. The gravitational force w exertea by the earth on this body will be
W

Figure 6.1

where.

g =7 Re

GM

The body will exert a force of equal magnitude on the earth which will be negligible considering the very large mass of the earth. If we substitute M = mass of earth = 5.98 x kg , Re = 6378 km, G = 6.67 x lo-" N m2/kg2gives g = 9.81 m/sec2.The actual value of g varies from point to point due to variations in the earth's radius and density. In engineering practice it is sufficient to assume that

The prerequisites for this is the concept of a particle, a rigid body, kinematics of a particle and that of a rigid body. The two basic problems to be solved in kinetics can be stated as below: 1) The motion of a particle or a body or a system of bodies is completely known. It is required to calculate the forces on them. 2) The forces acting on a particle, body or system of bodies are known It is required to detennine completely the resulting motion of the particle, body or system of bodies. After study of this unit we will be able to tackle both types of problems.

Objectives
After studying of this unit, you should be able to solve the problems of both the types as mentioned above, for following cases :

* * * *
6.2

motion along one axis only. motion along two mutually perpendicular axes. curvilinear motion with tangential and normal components of acceleration, and translational motion of a rigid body.

D'ALEMBERT'S PRINCIPLE - APPLICATION TO A PARTICLE

By use of this principle, difficult problems of dynamics can be reduced to simpler problems of statics. Consider a particle P shown in Figure 6.2 (a). A force F is acting on this particle. The acceleration of the particle can be obtained by F = ma. This equation can he written as F-ma=O or

F + q = O

where vector Fi= - ma is termed as inertia force, and it is always directed opposite to the acceleration cr of the particle, refer Figure 6.2 (b).

This also can be describe as.below. A force F is acting on a particle P and inertia force Fi= - ma which is imagined to be acting on the particle. Then F and Fi are in equilibrium. This is known as D8Alembert'sprinciple. When F and Fi act on a particle, the same will remain in equilibrium. To distinguish this equilibrium from static equilibrium it is tenned as dynamic equilibrium. When number of forces are acting on the particle, the principle can be applied as below. Let F, , F, ,. . ., F be the forces acting on a particle P as shown in Figure 6.3 (a). We can , calculate the resultant force R of the system. Then we can write R = ma, where a will give the resultant acceleration of the particle. This equation can be written as R - ma = 0 or R + Fi = 0 where Fi= - ma is the inertia force.

Example 6.1 A string is passing over a smooth pulley as shown in Figure 6.4 (a). The string supports the mass rn on one side and it is to be pulled up with acceleration a. Calculate the force T which should be applied at t@eend B of the string AB. Treat the block as a particle.

Solution Figure 6.4 (b) shows the free body diagram of the mass. The forces acting on it will be the tension Tin the string and the weight rng of the block. Since the block moves upwards the inertia force Fi = - ma will be directed downwards. The block can be considered in equilibrium under the action of forces T , mg and ma.

Dynamics

The tension T to be applied at the end B will equal to T = m (a + g).

Example 6.2

A rod ABC rotating at 20 rpm about a vertical axis through A, supports a ball of mass 10 kg at its lower end as shown in Figure 6.5 (a). It is fixed in position by the rod BD, neglecting the masses of rods AC and BD. Calculate the force F in the rod BD. Is the force tensile or compressive ? Calculate rpm when this force is equal to zero.

(b)

Figure 6 5

Solution

The free body diagram of the rod AC is shown in Figure 6.5 (b). The ball may be considered as a particle moving in a horizontal circle of radius r = 1.5 sin 30' = 0.75 m. As the ball is moving with constant angular velocity it will have centripetal force = rn 2 / r . We create the dynamic equilibrium by applying inertia force Fi = m 3/ r acting radially outward from the path. The magnitude of velocity =
2nn x r 60 '

Assuming a force F i n BD to be compressive it acts on AC as shown. If we consider moments of all the forces acting on AC about A, components of reaction at A, A, and Ah will not have any effect and we get

F x 0.9 cos 30"

32.86 x 1.5 cos 30" - 98.1 x 1.5 sin 30" = 0

: .

F = 39.63 N

Since F is positive it acts as shown and BD is in compression. For F = 0, the velocity can be obtained by taking moment about A again. ~t point A,

C M* = o

98.1 x 1.5 s i n 3 0 0 - ~ 1.5 cos 30 = 0 x r

: 9= .

98.1 x 0.75 x t n 30' = 42478 a 10

Kinetics of a PPrtide

: .
Example 63

n = 26.26 rpm.

A particle having a mass of 8 kg starts from rest and attains a speed of 1.5 d s e c in a horizontal distance of 10 m. Assuming a coefficient of friction of 0.2 and uniformly accelerated motion, what is the smallest value of a constant horizontal force P which may be required to get this motion. Refer Figure 6.6 (a).

Solution The free body diagram of the body is shown in Figure 6.6 (b).

To determine acceleration of the body we have, initial velocity = 0, frnal velocity = 1.5 d s e c and distance travelled s = 10 m.

Inertia force

Fi= - ma = 8 x 0.1 125

= 0.9 N Considering equilibrium of the forces We have

and

F = 0.20 x N = 15.70 N

Substituting these values in equation (6.3.1) above we get

Example 6.4

An automobile of mass 1500 kg Faverses a 500 m curve at a constant speed of 50 kmph. Assuming no banking of the curve. Calculate the force exerted by the tires on the road to maintain motion along the curve. Refer Figure 6.7 (a).

(a)

Figure 6 7

SolutIon

Speed of the car = 50 kmph = 50

lOo0 = 13.89 m/sec 3600

Acceleration acting on the car will be oriented towards the centre. Hence

Inertia force Fi = - ma = 1500 x 0.386

= 578.70 N

Consider Free Body Diagram as shown Figure 6.7 (b), we can write equilibrium equations as below

Example 6.5

An automobile of mass 1300 kg, travelling at a speed of 60 kmph hits a depression in the road which has a radius of curvature of 15 m. Calculate the total force which will be acting on the springs. Refer Figure 6.8 (a).

Solution

The speed of the car is 60 krnph i.e.

6o
loo0 = 16.67 d s e c 3600

v2 The car is travelling along a curve of radius 15 m. Therefore acceleration a,, = -' r

: .

a, =

-15

(16.671~

18.52 d s e c

The inertia force Fi= m a, will be acting as shown.

: F i= - m . a, .

= 1300 x 18.58

= 24076 N

Considering equilibrium of forces as shown in Figure 6.8 (b), we have

Example 6.6 Two blocks A and B are connected as shown in Figure 6.9 (a). Mass of block A is 15 kg and it is resting on a surface having a coefficient of friction p = 0.30. The mass of block B is 7 kg. The pulley is frictionless. Determine the acceleration of the mass B and tension in the rope.

Figure 6.9

Solution

As the pulley is frictionless, the tension in the string will be same and acceleration of A and B also will be same. Let a be @e acceleration and T the tension in the string. Consider Free Body Diagram of both the bodies as shown in Figure 6.9 (b). Consider equilibrium of body A.

Substituting in equation (6.6.1), we get

=.15 a + 44.145 Now let us consider equilibrium of body B.

From equations (6.6.3) and (6.6.4), we get

Substituting this value of a in either equations (6.6.3) or (6.6.4), we get

Example 6.7

Blocks A and B of mass 20 kg and 45 kg respectively are connected by a weightless rope over a frictionless pulley as shown in the Figure 6.10 (a). Assume a coefficient of friction of 0.2 for all the planes. Determine the velocity of the system 5 seconds after starting from rest.

Figure 6.10

Solution

Let T be the tension in the strings. It is not rather easy to determine the direction of motion. Let us assume that block B is moving down the plane such that block A climbs up the plane. This gives us the direction of acceleration for each block and also the directions of frictional forces acting on each block. Refer Figures 6.10 (b) and 6.10 (c). These figures give us free body diagram for each block.
Consider block A

We can write down the following equilibrium equations. Assuming x axis along the plane and y axis perpendicular to the plane.

~ F , = o

: .

T = 20 a

+ 0.2 N 1 + 20 g sin 30"

(6.7.1)

~ F , = o N 1 = 20 g cos 30

Substituting in (6.7.1). we get

Consider now block B

We can now write equilibrium equations for this block.

Substitutingin (6.7.4), we get

+ 44.145 + 45 a : T + 45 a . +

= 382.30

= 338.1507

Solving (6.7.3) and (6.7.6). we get

T = 20a

132.08 = -45 a

+ 338.1507

The value of a, we have obtained is positive and our assumption that block B moves down the plane is correct. Now we can apply kinematic equation v = vo + at : v = 0 + 3.17 x 5 .
Example 6.8 A particle of mass rn is resting on a smooth horizontal plane as shown in Figure 6.11 (a). It is attached to a spring which has a constant of k in force units per unit defonnation. The mass is displaced to a distance % from its equilibrium position and released with zero velocity. Study the motion of this particle.

REST

Solution A free body diagram is drawn showing the particle in a position at a distance x from equilibrium position. Refer Figure 6.11 (b). A force T is acting on this body in a

horizontal direction which is developed due to the stretching of the spring through the distance x.

Dynamics

Within elastic limit, we can assume that the tension in the spring is proportional to its change in length from the equilibrium position. Then T = k x, where T = spring force, k = constant and x = change of length. Let a, be the acceleration with which the spring will come back to its equilibrium position. Summing up forces in horizontal direction we have - T = ma,. Please note that x is to the right, therefore a, is written as positive and T is to the left therefore it is written as negative.

-b = m

(2)

a Simple Harmonic Motion.

The solution of this second order differential equation can be written as

The values of A and B can be calculated as below. Value of x is %, when t = 0.

: .

x, = A sin

[e.[*.
0 + B cos )
0)

and To evaluate A ,we differentiate x w.r.t. time because we know v = 0, when t = 0.

when t = 0 , v = 0 and sin

.* I

t = 0

: .
: .

we get

A=0.

The equation of motion for this problem is

SAQ 1
In a device known as Atwood's machine, two equal masses M are connected by a very light (negligible mass) string passing over a frictionless pulley as shown in Figure 6.12. A mass m whose magnitude is much less than M is added to one side, causing that mass to fall and Lher mass to rise. Study the motion.

Figure 6.12

SAQ 2
A particle of mass rn is suspended on a cord of length I as shown in Figure 6.13. Determine the period and frequency of this simple pendulum.

SAQ 3
A cage weighing 3000 N is raised by a rope which is wrapped round a drum 100 cm in diameter and weighing 600 N and having a radius of gyration of 45 cm. The drum is rotated by an electric motor which exerts constant torque of 400 Nm. If the rope is tight when the drum begins to rotate, determine

i) ii) iii)

acceleration of the cage the tension in the rope the time required to raise the cage 25 m from ground.

6.3 D'ALEMBERT'S PRINCIPLE -APPLICATION TO SYSTEM OF PARTICLES

When a number of particles are connected by a system, the solution of such problems is bit complicated. The equations and methods developed in the preceding section can be used in this case also. While applying this method, the following points must be followed: 1) We should draw free body diagram for each body involved indicating all known and unknown forces. If the direction of any unknowl~ force (except frictional forces) is incorrectly assumed the solution will yield its correct magnitude but with a negative sign. We must remcmber that however frictional forces always must be in the opposite direction of motion. To mark correctly the frictional forces, it is necessary to determine the direction of motion. If the same is not specified indicate the same by a dashed arrow near each free body diagram. This will be helpful in deciding positive direction of equation of motion. Kinematic relationships for different bodies involved should be determined. Select x axis positive in the direction of initial motion and apply equilibrium equations for curvilinear motion corresponding dynamic equilibrium equations should be used. By using additional kinematic equations solve for unknown.

2)

3) 4)

5)

_.-.. . . Example 6.9 In the system of connected blocks shown in Figure 6.14, the coefficient of kinetic friction under blocks A and C is 0.20. Calculate the acceleration of each block and

Figure 6.14 (a)

the tension in the connecting cable. The pulleys are assumed to be frictionless and of negligible weight.
Preliminary : For simplification, we resolve the weights of A and C by their components acting parallel and perpendicular to the inclined planes, as shown in the free body diagrams. First thing, we should try is to determine the direction of motion of the system. We first assume that one part of the system does not move and then calculate the tensions necessary to keep it at rest.We then calculate the forcxs in the remaining system and if any unbalanced force is obtained that part will mcve in the direction of the force. Also we take into account the effect of friction in preventing the motion.
X/

Eg 6.143) S m

In this case, let us assume that block B is at rest. This gives us 2 T = 1200 N or T=600NactingatAandC. If we substitute T = 600 N and sum up the forces parallel to the plane, then frictional force required for equilibrium is 800 - 600 = 200 N, but available friction force on A is 120 N. This is insufficient to keep A at rest and as shown, A will be moving down the plane. Similarly block C will move upwards as shown. Yet we do not know the direction of motion of B because downplane motion of A will tend to raise B upwards whereas upplane motion of C will tend to lower down B. We now assume that let B move downwards as no frictional force is acting on B and incorrect direction of motion will be of no importance. The actual value of Twill determine its motion. Let us now remember the FBDs of A and C. For downward motion of A, T should be less than 800 - 120 = 680 N and for upward motion of C, T should be more than 320 + 48 = 368 N. Therefore we can estimate the value of T as average of

N=MO N

q i y 4
' T

m .a,

F=48 N

Figure 6.14~)

F~=-UB

an

52

;I &
12 T
1

Using this approximate value of Ton FBD of B gives an unbalanced downward force on B and justifies our assumption that B moves down. We now try to use the concept of method of virtual work to get the kinematic relationships. The total work done by internal connecting forces on a system is zero.

figare 6.14 (d)

We also keep in mind that work is a product of force and displacement and positive work is done when the displacement is in the direction of force, we have sum of the works done by Ton the system of connected blocks.

Kinetics of a Partide

by cancelling T, we get

and a, = a,

2 a,

Solution We now apply equilibrium equations to each body.

For A

800

120- T -

loo0 -aA = 0
g

For B

For C We replace a, by aA + 2 a~ . We get T

101.94 a = 680 A

and,

Substituting these values-in(6.9.1) etc., we get

Example 6.10 The frame shown in the Figure 6.15 (a) rotates about a vertical axis. The coefficient of friction under block A is 0.4. Calculate the coefficient of friction at block B if B starts to rise when the frame rotates at 40 rpm.

R g r e 6 1 (a) .5

Solution As the table rotates, block A will try to move outwards.

We have,

The acceleration acting on Block A towards axis of rotation will be

r o2= 21.06 m/sec2

FLpre 61 (b) .5

Consider FBD of Block A, Figure 6.15 (b), writing equidbrium equation, we have

We get,

T=

- x a - 0.4 ,

100 g

N1

- 1
F--xu,

"

,~,,=2=~

Consider now FBD of Block B,Figure 6.15 (c). We get,

F S ~ I -6 1 (c) C 5 .

Example 6.1 1 Two blocks having the weights and positions shown in Figure 6.16 (a) rest on a frame which rotates about its vertical axis at a constant speed. The coefficient of friction between the blocks and the frame is 0.20 neglecting the weight and the friction of the pulley. Calculate the speed ih rpm at which the blocks will start to slide. Also calculate the tension in the cord at that instant.

54

R g r e 6 1 (a) .6

Solution

Kinetics o a P d c l e f

As the system starts rotating about the vertical axis, acceleration equal to ro2 will be acting on each block. The outer block will have magnitude of acceleration more and has a mass larger than the other block. Therefore we will assume that outer block will have a motion oriented outside as shown on FBD. This will cause the Fi= 5 inner block to move towards axis of rotation. We have

and

= 9.810 N

Considering equilibrium

F, = 0 , T + F = 5 x a,

a , = r o2 = 1.802 ,

Consider FBD of other block

F = 0.2 x 3 x 9.81 = 5.89 N

: .

we have

T = 9 o2- 9.81 = 3.6 b2 + 5.89

Substituting this value of o in one ofthe equations for T, get we

Example 6.12 Two weights P and Q are connected by the arrangement shown in Figure 6.17 (a). Neglecting friction and the inertia of the pulleys and cord, find the acceleration of the weight Q. Assume P = 20 kg and Q = 15 kg.

SoluUon

No friction is involved and therefore we can assume any direction of motion. Still we can do a little more guess work. Let us assume block P at rest, then we have 2 T = 20 x 9.81. As P i s not moving, Q also will not move, therefore we get T = 15 x 9.81 which shows that the system will have a motion i.e. Q will move down and P will be moving up. The value of Twill be in between the above two values. Further it will be clear that acceleration of P will be half of acceleration of Q. Considering FBD f& the bodies we can write equilibrium of Q. We have

Equilibrium equations for P will give us

Considering the above two equations, we get

T = 147.15 - 1 5 a = 5 a

+ 98.1

SAQ 4
Two blocks A and B are released from rest on a 30 inclined plane when they are at 20 m apart. The coefficient of friction under the upper block A is 0.20 and that under

the lower block B is 0.40. Compute the time from start when they meet. After they meet and move as a unit, what will be the contact force between them ? Refer Figure 6.18. /

Figure 61 .8

SAQ 5
A truck weighing 10 kN moves freely (engine not running) at 40 kmph down a slope of 1 in 40, the road resistance at this speed is just sufficient to prevent any acceleration. Find the road resistance per kN weight of truck.

6.4

TRANSLATION OF A RIGID BODY

In the preceding section when we have considered the problems on particle kinetics, we have really considered rigid bodies with mass concentrated at the centre of gravity of the same. In this section, we will consider the problems which involve the magnitude andlor position of forces which will try to impart the translation motion to the rigid body. Basic criterion we assume here is the resultant of all applied forces will pass through the mass centre of the body. Consider a body being acted upon by forces as shown in Figure 6.19 (a).

(0)

Figure 6.19 :Equivdence of Applied Foras d Resmlltant Etfective Forces

IN

(b)

This force system is equivalent to a resultant force passing through the mass centre of the body as shown in Figure 6.19 (b). Sum of the forces in any direction of part (a) is equal to sum of the forces in the same direction of part B. Also sum of the moments about any point for part (a) is equal to the corresponding sum of moments for part (b). If we consider moments about G, it is clear that sum of the moments will be zero. We try to use D'Alembert's principle for the system and we get

Figure 6.U) :Creation of Dynamic Equilibrium by Addmg Inertia Force = ma

It is clear that by introduction of inertia force, the body has got zero resultant, also sum of the moments about any point is zero. 'Ihus all the methods,developed in statics can be used. By addition of inertia force to the existing system of forces acting on the body, as shown in Figure 9.20(b), we create the condition known as dynamic equilibrium. Example 6.13 The frame oTa certain machine accelerates to the right at 0.8 g m/sec2. As shown in Figure 6.21 (a) it carries a uniform bent bar ABC weighing 50 Nlm, pinned to it at C and braced by the uniform strut DE which weighs 100 N. Determine the components of the force at pin D.

Figure 6.21 :Free Body Diagrams for Link ABC and Link DS

Solution Except for the application of inertia forces the solution of this problem is same as that for statics. The free body diagram of each member is placed to dynamic equilibrium by including inertia force acting through the C.G. of each part, directed opposite to the acceleration. We must note that instead of locating C.G. for ABC, it is more convenient to apply the inertia reaction acting on each part of its length. The inertia forces are

,For AB, For BC, For DE,

ma = - . a

15 g

= - x 0.8g = 12 N

15 g

Let us now consider FBD of ABC. Sum of moments about C will eliminate three unknown forces and we get, directly Dx .

Referring to FBD of DE in which now Dx is known; we take sum of moments about E which will eliminate Ex and Ey .

If required, components of reactions at C and E can be calculated by applying Fy = 0, toeach body separately. F, = 0 .
/

Example 6.14 The body of mass 100kg is'supported by wheels at B which roll freely without friction and by a skid at A under which the coefficient of friction is 0.5. Compute the

value of P to cause an accelerationof g m/sec2. Refer Figure 6.22. 4

Solution

Consider free body diagram as shown above. We must keep in mind that reaction at B will be vertical and reactions at A will be vertical as well as horizontal. After showing the inertia force on FBD, we can write down the equilibrium equations as below.

Further we know

a=

= 2.45 m 1 sec2

Similarly, 1.3 P

+ 2.5 YB - 3.65 YA

= 0

Substituting for P from (6.14.1), we get,

and we have,

YA + YB = 981.0

After solving for YA and YE ,we get,

Example 6.15 A bar weighing 1 kg I m is bent at right angles into segments 0.60 m and 0.30 m long. It takes the position shown in Figure 6.23, when the frame F to which it is pinned at A is accelerated horizontally. Determine this acceleration and the total reaction at A.

(b)
Figure 6 2 .3

Solution The Figure 6.23 (b) shows the free body diagram in which all the forces acting on the body are shown. We must understand that inertia forces acting on the bar only will keep it in the shown position. Figure 6.23 (c) shows the distances of various forces in equilibrium position.

From FBD, we can write the following equilibrium equations,

Kinetics of a Particle

Algebraic sum of the moment of all forces about the point A, i.e.

C MA = 0

: .

8'83 Total resultant reaction at A = 9.26 N, and tan 0 = - - 3.16 2.80

Example 6 1 .6

The coefficients of friction under the sliding supports of the door in Figure 6.24 is 0.30 at A and 0.20 at B. What force P will give the 25 kg door a left ward acceleration of 3 m/sec2.

@) Figure 6.24

Solution

The forces i.e. actions and reactions acting on the door are marked in Free Body Diagram as shown in Figure 6.21 (b). After showing the position and direction of inertia force on the body, we can write equilibrium equations as below :

C MCG = 0
YA x 1.2

+ XA x

1.8 - YB x 1.2 XA = 0.3 YA

+ XB X

1.8

+P

0.6 = O

Also we have

and,

Comparing equations (6.16.1) and (6.16.3). we get,

P = 0.3 YA

+ 0.2 YB + 75

- 2.90 YA + 1.4 YB
(6.16.4)

...
Also we have

3.24YA - 1 . 2 Y ~ -75 =

YA

YB = 25

After solving equations (6.16.4)and (6.16.5)we get,

. :

YA = 49.84 N and

Example 6 1 .7 Block B is accelerated along the horizontal plane by means of a mass A attached to it by a flexible inextensible massless rope passing over a smooth pulley as shown in Figure 6.25 (a). Assume that the coefficient of friction between block B and the plane is 0.20. Mass of block B is 2 kg and that of A is 1.20 kg. Discuss the motion.

(c)

Figure 625

Solution

We draw Free Body Diagram for the block under consideration as shown in Figure 6.25 (b). Assume acceleration of the block B is a to the right as shown. We also must note the position of NB which is shown acting at a distance x from the vertical line through the m s centre of block B. as We can now write equilibrium equations for the block B.

Similarly considering

Fy = 0, for block A, we get

(6.17.3)

From equations (6.17.1) and (6.17.3), we have

0.2NB

+ 2a =

11.77 - 1 . 2 ~

C MC.G. = 0

for the block B. We get

DPamks

Substituting the values of T and NB ,we get

Negative sign indicates that the reaction NB is acting to the rikht of the mass center instead of to the left assumed.

SAQ 6
Determine the maximum speed v at which a car of weight W can make a horizontal turn around a highway curve at radius r that is banked (i.e. inclined) at. 8 degree with the horizontal. The coefficient of static friction between the tyres and the road is p and the corresponding angle of friction is 0.
WI

SAQ 7
An elevator having a mass of 750 kg is ascending with an acceleration of 5 mlsec2. The mass of the operator is 70 kg. Assuming that he is standing on spring scales during the ascension. What is the scale reading ? What is the tension in the cable ?

6.5

SUMMARY

In this unit we have seen the effect of forces on a particle. The laws of motion for a particle are extended to include a system of particles or a rigid body. This is done by using DOAlembert's principle. D'Almbert's principle states that the resultant of forces acting on a body is equivalent to the sum of the effective forces acting on all the particles of the m y . Further, we can say that when forces ire acting on the particles of a body, we can imagine inertia forces also acting on the particles bringing the body in dynamic equilibrium. This principle can be extended further to determine the motion of mass centre of any body. We understand that resultant of the applied external forces is equivalent to the product of the mass of the body and the acceleration of its mass centre which is expressed as F = ma. The motion of translation of a rigid body is defined as motion in which a straight line passing through any two particles of a body are always parallel to its initial position. Further we can say that translation of a rigid body is equivalent to that of a particle having the mass of the body and the motion of the mass centre of the body.

For rectilinear motion let x axis be directed along and positive on the initial direction of motion. Then we can write the equation as below,

Kinetics of a Particle

For curvilinear motion, normal and tangentialcomponents of acceleration (Nand T respectively) are used to write equations.

nlvL dv The problem becomes very simple when inertia reactions of magnitudes ---- and tti . r (11 are applied through the mass centre and directed opposite to the normal and tangential components of acceleration respectively and dynamic equilibrium equations are written.
The advantage of dynamic equilibrium is that all the methods of statics c'an be applied to a single free body diagram which includes the component's of inertial reaction nltr. It is very much useful when moment summation is calculated at a centre which is the intersection of two unknown forces and set to zero.

6.6 KEY WORDS

Inertia force
:

Dynamic equilibrium

This is a fictitious force applied to the particle body having magnitude equal to the product of its mass and its acceleration and directed oppositely to the acceleration. By imagining application of inertia forces on the body which is in motion, no acceleration will be produced and the body would remain in equilibrium. The applied forces acting on any body are in dynamic equilibrium with the inertia forces of the particles of the body.

D'Alembert's principle :

6.7 ANSWERSISOLUTIONS TO SAQs

SAQ 1 The free body diagram of the mass systems are shown in Figure 6.27 (b) & (c). The same tension T is acting on each system through the string because the friction of the pulley is assumed to be negligible.

(a)
Figure 6.27

Dynamics

Further, we assume that same magnitude of acceleration is acting on both the sides and accordingly inertia forces are also shown on FBDS. Referring Figure 6.27 (b), we can write the equilibrium equation as below

Similarly referring Figure 6.27(c) we can write

Considering (1) and (2) we have

and, This expresses the relation between the acceleration of gravity g at any place where the experiment is performed and acceleration a of the masses as determined by measurement of distance and time on the string.
SAQ 2

The only forces acting on the particle are tension Tin the string and weight = mg acting vertically downward. The position at any instant is specified by the angle 0. Selecting x-axis along the tangent to the path as shown in Figure 6.28, we can write the equation of equilibrium along x-axis as

i
(8)

(b)
Figure 6.28

F, = 0 , -Mgsin0
We also have a, = 1. a where a = angular acceleration of the particle.

Ma, = 0

The acceleration is zero, when 0 is zero i.e. at lowest position of the particle.

: .

-Mgsin 8 = - M l a d2 0

: M g sin 8 = M . I . . ?
or,
66 .g sin ---

dr

- ri20

rlt2 '

For small displacements we have

The solution of this differential equation is

The constants A and B can be evilluated by using boundary conditions. The angular velocity o = w i n radians per second. The period T = time required for completing one cycle

The frequencyf = number of cycles per second

SAQ 3

Given Weight of cage = 3000 N. Diameter of drum = 100 cm = 1.00 m.

: Radius of the drum = 0.5 m. .

Weight of drum = 600 N Radius of gyration of drum
k = 0.45 m

Constant torque exerted by motor TQ = 4000 Nm. Acceleration due to gravity g = 9.8 m/sec2 Let a = acceleration of the cage and T = Tension in the rope

13000 N
(a)

(b)
Figure 6.29

(4

The cage is moving up with acceleration a, consider FBD for cage. We have T = 3000 3000 + -. a
g

Consider the motion of the drum

Dynamics

TQ is the torque qxerted by electric motor having 4000 Nm magnitude and will have anticlock wise direction

: .

TQ = T x 0.5

+ la
la

(2)

= (4000 - 0 . 5 T ) =

where

I = moment of inertia of the drum

= mass of drum x

= 12.398 kg m2

and

= Angular acceleration

Substituting values of I and a in ( 2 )

(2)

Working on equations ( I ) and (3),we get

8000 - T = 4 9 . 5 9 2 ~
- 3000

T = 306.1229~

i)

a = 14.056 m l sec2
Substituting the value of a in equation ( 1 )

ii) iii)

T = 3000 + 306.122 x 14.056 = 7302.925 N Time required to raise the cage 25 m from the ground.
let I = time required
1 + - at2 2

we have

s = ur

andu=O

= 1.886 seconds
SAQ 4 The FBD of each body is shown in Figure 6.30. Select reference axis as shown with the x-axis positive down the incline in the direction of motion.

Writing equilibrium equations for B

Fy = 0 , we get N g = 0.866 WB
and
f =

NB = 0.346 Wg

Kinetics o a Particle f

Rgure 6 3 .0

Similarly for A we get,

Thus,the relative acceleration with which A overtakes B is n = (I,,, - r ~ n 2 = 0.173 g rnlsec . Therefore, the time to traverse the relative disti111~~ hctwec111l~cn~
of 20 mat this constant acceleration is calculated as helow : We have,

: 8= .

23.57 and

t =

4.85 seconds

After the blocks touch, the common acceleration for the system can be calculated from the combined equilibrium equation.

Figure 6 3 .1

With this value of acceleration the contact force between the bodies can be obtained from the FBD of either block.

Substituting value of a we get,

SAQ 5

Weight of the truck = 10,000 N. Speed of the truck u = 40

3600

'OM)-

11.11 mlsec

Figure 6 3 .2

Figure 6.32 shows the position of the truck moving downward along the plane. The truck moves with constant velocity such that acceleration is zero. F1 is the resistance offered by the road. Then we have

F 1 = Wsin 0

: .

Frictional force per kN weight of truck

-

F1 Weight of truck in kN

SAQ 6

If the car makes a very sharp turn so that the dimensions of the car are not negligible compared to the radius of the turn. The example would be that of a rigid body rotation about vertical axis of the turn.Usually the radius of the turn is so large, that significant error is caused by analysing the car as a particle.

Figure 6 3 .3

The rear view of he FBD of the car is shown in Figure 6.33. The centrifugal inertia force - . - is applied through the mass centre to create R r dynamic equilibrium. When the car is travelling with maximum speed around the turn all available static friction is required to prevent such skidding. Then the resultant R of the total road reaction is inclined at the angle of friction Q with the normal reaction N. Since the car is considered as a particle the total reaction R is directed through the C.G. of the car. It must be noted that due to this outer wheels carry a greater load than the inner set of wheels. From the polygon of forces we have

Kinetics of a Particle

W v2.

This relation is independent of the weight. If the car is on the verge of slipping down the incline, we would have tan (8 - $) = fr ? When the car is rounding a curve banked at such an angle 8 with the speed v so that there is no tendency to slip up or down the road. 0 is known as the ideal angle of banking and v as the rated speed of the curve. Under these conditions, we may apply the result above by assuming $ = 0. We must also note that when the car is not having the optimum speed we cannot have the relation F = p N. Actual frictional force can be calculated from summation of the forces taken parallel to the inclined plane.
SAQ 7

vL

A free body diagram of the mass is shown below. P i s the reaction offered by the spring.

Figure 6.34

Dynamic equilibrium equation will give us

P = 70 x 9.81

70 x 5

i.e. there is apparent increase in the mass =

1036.7 - 686.7 = 35.7 kg 9.8 1

To determine the tension in the cables, the FBD of the man and the elevator is drawn.

tr +

Figure 6.35

: .

T = 820 x 9.81 + 820 x 5

= 12144.2 N